Model generating device, position and orientation calculating device, and handling robot device

Abstract

A model generating device for generating a three-dimensional model of an object includes a three-dimensional measuring machine which three-dimensionally measures a plurality of objects each disposed at a given orientation in a three-dimensional space, to obtain measurement data, a model measurement data extracting unit which treats the measurement data of the plurality of objects measured by the three-dimensional measuring machine as a set of model measurement data obtained by measuring one object from a plurality of virtual measurement positions, to extract the model measurement data corresponding to the plurality of virtual measurement positions, and a model measurement data integrating unit which integrates the model measurement data extracted by the model measurement data extracting unit, to generate a three-dimensional model of each object.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]The present invention relates to a model generating device which measures a target object using a three-dimensional measuring machine, and generates a three-dimensional model of the target object using the measurement data. The present invention also relates to a position and orientation calculating device for calculating a position and orientation of the target object based on the three-dimensional model and the measurement data of the target object. The present invention also relates to a handling robot device which calculates a position and orientation of the target object based on the three-dimensional model and the measurement data of the target object, and handles the target object using a robot based on the calculated position and orientation of the target object.[0003]2. Description of the Related Art[0004]In a device which checks data measured by a three-dimensional measuring machine against a three-dimensional...

AI Technical Summary

Benefits of technology

The invention aims to provide a device that can easily create a three-dimensional model of an object without using CAD data. This device uses a three-dimensional measuring machine to take measurements and calculate the position and orientation of the object. An optimization algorithm is then used to improve the accuracy of the model based on the virtual measurement position and the detected position of the object. The invention also includes a position and orientation calculation device and a handling robot device that can use this model to accurately position and orient the object.

Problems solved by technology

However, the aforementioned conventional methods have the following problems.

The CAD data of a target object are not always available, and accordingly, a three-dimensional model cannot be generated in such a case.

Further, all surfaces of the object cannot always be three-dimensionally measured in accordance with expectation.

The three-dimensional measuring machine sing an optical system is difficult to three-dimensionally measure a surface region having a specific property, e.g., a partial black region on the surface of the object.

However, when the three-dimensional model is generated from the CAD data, such a surface property cannot be taken into consideration.

If such a surface property is modeled, some errors in modeling and a gap between the generated three-dimensional model and the actual measurement data would occur.

Further, when a three-dimensional model, based on which all positions and orientations of an object, including positions and orientations around the axis of the object, can be calculated, is generated, the number of measuring operations reaches a huge number, and the time and effort for creating the three-dimensional model drastically increase in proportion to this huge number of measuring operations.

Thus, an enormous amount of time is needed to create the three-dimensional model.

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